Port the UnicyclePlanner in Planners component (#844)

This planner is in charge of generating the:
- footsteps
- DCM trajectory
- CoM trajectory
over the trajectory time horizon, which is a configuration parameter of the planner itself.

.github/workflows/ci.yml

@@ -23,7 +23,7 @@ env:
   OsqpEigen_TAG: v0.7.0
   tomlplusplus_TAG: v3.0.1
   icub_models_TAG: v2.4.0
-  UnicyclePlanner_TAG: d3f6c80afe21a9958da769c8dd8a2bbfee5ea922
+  UnicyclePlanner_TAG: v0.7.0
   telemetry_TAG: v1.2.0
   bayes_filters_TAG: 53124b1d85fc00c8cd44d572a1e482d7e58c0f50
 

CHANGELOG.md

@@ -27,6 +27,7 @@ All notable changes to this project are documented in this file.
 - Require `iDynTree v10.0.0` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/832)
 - Refactor `YarpRobotControl::setReferences` function to include optional current joint values and avoid to switch control mode in `YarpRobotControl::setReferences` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/833)
 - Set the gravity vector as an input argument of the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/823)
+- Refactor the `Planners::UnicyclePlanner` to mimic the functionalitites of the planner deployed in [walking-controllers](https://github.com/robotology/walking-controllers) (https://github.com/ami-iit/bipedal-locomotion-framework/pull/844)
 
 ### Fixed
 - Fix the barrier logic for threads synchronization (https://github.com/ami-iit/bipedal-locomotion-framework/pull/811)

bindings/python/Planners/CMakeLists.txt

@@ -30,17 +30,3 @@ if(TARGET BipedalLocomotion::Planners)
     )
 
 endif()
-
-if(TARGET BipedalLocomotion::Unicycle)
-
-  set(H_PREFIX include/BipedalLocomotion/bindings/Planners)
-
-  add_bipedal_locomotion_python_module(
-    NAME UnicycleBindings
-    SOURCES src/UnicyclePlanner.cpp src/UnicycleModule.cpp
-    HEADERS  ${H_PREFIX}/UnicyclePlanner.h ${H_PREFIX}/UnicycleModule.h
-    LINK_LIBRARIES BipedalLocomotion::Unicycle
-    TESTS tests/test_unicycle_planner.py
-    )
-
-endif()

bindings/python/bipedal_locomotion_framework.cpp.in

@@ -53,10 +53,6 @@
 #include <BipedalLocomotion/bindings/Planners/Module.h>
 @endcmakeiftarget BipedalLocomotion::Planners
 
-@cmakeiftarget BipedalLocomotion::Planners && BipedalLocomotion::Unicycle
-#include <BipedalLocomotion/bindings/Planners/UnicycleModule.h>
-@endcmakeiftarget BipedalLocomotion::Planners && BipedalLocomotion::Unicycle
-
 @cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
 #include <BipedalLocomotion/bindings/RobotInterface/Module.h>
 @endcmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
@@ -169,10 +165,6 @@ PYBIND11_MODULE(bindings, m)
     bindings::Planners::CreateModule(plannersModule);
     @endcmakeiftarget BipedalLocomotion::Planners
 
-    @cmakeiftarget BipedalLocomotion::Planners && BipedalLocomotion::Unicycle
-    bindings::Planners::CreateUnicycleModule(plannersModule);
-    @endcmakeiftarget BipedalLocomotion::Planners && BipedalLocomotion::Unicycle
-
     @cmakeiftarget BipedalLocomotion::RobotInterface && BipedalLocomotion::RobotInterfaceYarpImplementation
     py::module robotInterfaceModule = m.def_submodule("robot_interface");
     bindings::RobotInterface::CreateModule(robotInterfaceModule);